{"id":"https://openalex.org/W2563014475","doi":"https://doi.org/10.1109/iros.2016.7759175","title":"Real-time grasp planning based on motion field graph for human-robot cooperation","display_name":"Real-time grasp planning based on motion field graph for human-robot cooperation","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2563014475","doi":"https://doi.org/10.1109/iros.2016.7759175","mag":"2563014475"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759175","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759175","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056426170","display_name":"Jaepyung Hwang","orcid":"https://orcid.org/0000-0002-2518-063X"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jaepyung Hwang","raw_affiliation_strings":["Department of Computer and Software, Hanyang University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Software, Hanyang University, Seoul, Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073792558","display_name":"Myungsik Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myungsik Yang","raw_affiliation_strings":["Department of Electronics and Computer Engineering, Hanyang University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering, Hanyang University, Seoul, Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030410269","display_name":"Il Hong Suh","orcid":"https://orcid.org/0000-0002-0981-329X"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Il Hong Suh","raw_affiliation_strings":["Department of Electronics and Computer Engineering, Hanyang University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering, Hanyang University, Seoul, Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044269840","display_name":"Taesoo Kwon","orcid":"https://orcid.org/0000-0002-9253-2156"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Taesoo Kwon","raw_affiliation_strings":["Department of Computer and Software, Hanyang University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Software, Hanyang University, Seoul, Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5056426170"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":null,"apc_paid":null,"fwci":0.5356,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.71001062,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"11","issue":null,"first_page":"1025","last_page":"1032"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9165952205657959},{"id":"https://openalex.org/keywords/avatar","display_name":"Avatar","score":0.8708979487419128},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7193547487258911},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7186925411224365},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5742905139923096},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5669574737548828},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5146282911300659},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4792651832103729},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.47466424107551575},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4600977301597595},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4507175385951996},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.43149763345718384},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.4185595214366913},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3291899561882019},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1699703335762024},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11573797464370728}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9165952205657959},{"id":"https://openalex.org/C2777365542","wikidata":"https://www.wikidata.org/wiki/Q83090","display_name":"Avatar","level":2,"score":0.8708979487419128},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7193547487258911},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7186925411224365},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5742905139923096},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5669574737548828},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5146282911300659},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4792651832103729},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.47466424107551575},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4600977301597595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4507175385951996},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.43149763345718384},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.4185595214366913},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3291899561882019},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1699703335762024},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11573797464370728},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759175","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759175","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Partnerships for the goals","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W34950630","https://openalex.org/W563824333","https://openalex.org/W1227099479","https://openalex.org/W1556852209","https://openalex.org/W1559925914","https://openalex.org/W1561156170","https://openalex.org/W1842643066","https://openalex.org/W1928136994","https://openalex.org/W1967761317","https://openalex.org/W1976610925","https://openalex.org/W1982920857","https://openalex.org/W1985059397","https://openalex.org/W2000697645","https://openalex.org/W2005481941","https://openalex.org/W2021818598","https://openalex.org/W2054438755","https://openalex.org/W2059546105","https://openalex.org/W2078507573","https://openalex.org/W2088317162","https://openalex.org/W2101027380","https://openalex.org/W2105957568","https://openalex.org/W2106281046","https://openalex.org/W2111237478","https://openalex.org/W2118262422","https://openalex.org/W2121161269","https://openalex.org/W2122115534","https://openalex.org/W2125589196","https://openalex.org/W2128082316","https://openalex.org/W2128160875","https://openalex.org/W2128456819","https://openalex.org/W2129409588","https://openalex.org/W2139760425","https://openalex.org/W2142682608","https://openalex.org/W2144216703","https://openalex.org/W2152388561","https://openalex.org/W2161933351","https://openalex.org/W2336236730","https://openalex.org/W3017719915","https://openalex.org/W3139957176","https://openalex.org/W4210823377","https://openalex.org/W4232170474","https://openalex.org/W4233266252","https://openalex.org/W4256451904","https://openalex.org/W6644603324","https://openalex.org/W6650191426","https://openalex.org/W6679050677"],"related_works":["https://openalex.org/W3138471234","https://openalex.org/W2163296013","https://openalex.org/W4247958311","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W1984314158","https://openalex.org/W4293926484"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,44,71,79,117,121,125,129,133,145,156],"real-time":[3],"framework":[4,24],"for":[5],"planning":[6],"natural":[7],"and":[8,51,60,64,94,154],"smooth":[9,101],"grasping":[10,81],"motions":[11,102],"in":[12],"an":[13,141],"online":[14],"manner":[15],"based":[16],"on":[17,76],"the":[18,35,54,65,68,77,89,92,95,105,109,113,149],"interaction":[19,36],"with":[20,37],"human.":[21,38],"The":[22,97],"proposed":[23],"is":[25],"able":[26],"to":[27,34,88,128],"change":[28],"its":[29],"grasp":[30,153],"strategies":[31],"agilely":[32],"according":[33],"Given":[39],"human":[40,122],"demonstrations,":[41],"we":[42,115],"develop":[43],"motion":[45,82,98],"field":[46,99],"graph":[47],"consisting":[48],"of":[49,73,91],"nodes":[50,55],"edges":[52,66],"where":[53,120],"contains":[56],"reference":[57],"finger":[58],"poses":[59],"their":[61],"time":[62],"derivatives,":[63],"indicates":[67],"similarity":[69],"between":[70],"pair":[72],"nodes.":[74],"Based":[75],"graph,":[78],"new":[80],"can":[83,123,152],"be":[84],"planned":[85],"that":[86],"adapts":[87],"changes":[90],"environment":[93],"interaction.":[96],"guarantees":[100],"by":[103,140],"integrating":[104],"velocities":[106],"obtained":[107],"from":[108],"demonstrations.":[110],"To":[111],"validate":[112],"framework,":[114],"build":[116],"demo":[118],"system":[119],"hand":[124],"cup":[126],"over":[127],"tele-operated":[130],"robot":[131],"or":[132],"virtual":[134,150],"humanoid":[135],"avatar":[136,151],"which":[137],"are":[138],"controlled":[139],"another":[142],"person":[143],"at":[144],"remote":[146],"location.":[147],"Also,":[148],"manipulate":[155],"cola":[157],"can.":[158]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
